Observer-Based Relative-Output Feedback Consensus of One-Sided Lipschitz Multi-Agent Systems Subjected to Switching Graphs

Muhammad Ahsan Razaq, Muhammad Rehan, Choon Ki Ahn, Keum Shik Hong

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper addresses multiple Lyapunov functions approach for investigating an observer-based protocol for the consensus of nonlinear multi-agent systems (MASs). Consensus protocol designs using relative-output feedback are developed by considering leader-following consensus and one-sided Lipschitz nonlinearity (OSL) under switching topologies. Switching occurrences are modeled using a relaxed average dwell time constraint. Consensus protocol designs have been provided for switching communication topologies that have a permanent or frequent directed spanning tree (DST) with respect to the leader. In contrast to conventional methods, a more practical and complicated output feedback approach for the consensus of OSL agents under switching topologies has been addressed. In addition, the scenario of frequent DST in a switching network is addressed for the first time to the best of our knowledge for the observer-based control protocol for MASs with OSL nonlinearities. Numerical simulations are provided for MASs to confirm observer-based protocol's proficiency at synchronization under switching graphs.

Original languageEnglish
Pages (from-to)1-12
Number of pages12
JournalIEEE Transactions on Control of Network Systems
Publication statusAccepted/In press - 2022


  • Consensus control
  • Consensus protocol
  • Control systems
  • Leader-following consensus
  • multiple lyapunov functions
  • observer-based control
  • Observers
  • one-sided lipschitz condition
  • Output feedback
  • Switches
  • switching topology
  • Topology

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications
  • Control and Optimization


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